Table REF  shows the result of our approach on single-pair estimates with the dataset of [1]}.
While the environments are very different, the model performs remarkably well in outdoor scenes.
Even architectural features, such as in hauptgebaude can be leveraged to produce faithful covariance predictions as, intuitively, the scene presents a structure (flat ground plane, lack of indoor man-made elements) that is geometrically similar to the some scenes encountered in KITTI.
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